import re

myStr='''
# codes make you happy
import novapi
from mbuild.smartservo import smartservo_class
from mbuild import gamepad
from mbuild import power_expand_board
from mbuild.encoder_motor import encoder_motor_class
from mbuild import power_manage_module

# initialize variables
_E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = 0
_E6_97_A0_E5_88_B7_E4_B8_8A = 0
_E4_BE_9B_E5_BC_B9_E5_80_BC = 0
_E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 0
_E6_97_A0_E5_88_B7_E4_B8_8B = 0
_E5_81_8F_E8_BD_AC_E8_A7_92 = 0
_E7_81_AF_E7_8A_B6_E6_80_81 = 0
_E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE = 0
_E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4 = 0
M1_E4_BD_8D_E7_BD_AE = 0
M4_E4_BD_8D_E7_BD_AE = 0
M5_E4_BD_8D_E7_BD_AE = 0
M6_E4_BD_8D_E7_BD_AE = 0
_E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 = 0
_E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 = 0
_E5_A4_B9_E5_AD_901 = 0
_E5_A4_B9_E5_AD_902 = 0
_E5_A4_B9_E5_AD_903 = 0
_E5_A4_B9_E5_AD_904 = 0
_E5_A4_B9_E5_AD_905 = 0
R1 = 0
my_4 = 0
R2 = 0
my_3_1 = 0
my_3_2 = 0
L1 = 0
_E5_89_8D = 0
_E5_90_8E = 0

# new class
smartservo_1 = smartservo_class("M2", "INDEX1")
smartservo_2 = smartservo_class("M2", "INDEX2")
smartservo_3 = smartservo_class("M2", "INDEX3")
smartservo_4 = smartservo_class("M2", "INDEX4")
smartservo_5 = smartservo_class("M2", "INDEX5")
encoder_motor_M1 = encoder_motor_class("M1", "INDEX1")
encoder_motor_M4 = encoder_motor_class("M4", "INDEX1")
encoder_motor_M5 = encoder_motor_class("M5", "INDEX1")
encoder_motor_M6 = encoder_motor_class("M6", "INDEX1")
encoder_motor_M2 = encoder_motor_class("M2", "INDEX1")
encoder_motor_M3 = encoder_motor_class("M3", "INDEX1")

def _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_852_E5_88_9D_E5_A7_8B_E5_8C_96 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E

    _E5_A4_B9_E5_AD_901 = 0
    _E5_A4_B9_E5_AD_902 = 0
    _E5_A4_B9_E5_AD_903 = 0
    _E5_A4_B9_E5_AD_904 = 0
    _E5_A4_B9_E5_AD_905 = 0
    _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 = 5

def _E5_A4_B9_E5_AD_90_E5_BC_80_E5_90_88 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("Up"):
        if _E5_89_8D == 0:
            _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 = _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 + 1

        _E5_89_8D = 1

    else:
        _E5_89_8D = 0

    if gamepad.is_key_pressed("Down"):
        if _E5_90_8E == 0:
            _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 = _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 + -1

        _E5_90_8E = 1

    else:
        _E5_90_8E = 0

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 > 6:
        _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 = 6

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 < 1:
        _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 = 1

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 == 1:
        if gamepad.is_key_pressed("Left"):
            _E5_A4_B9_E5_AD_901 = 0

        else:
            if gamepad.is_key_pressed("Right"):
                _E5_A4_B9_E5_AD_901 = 1

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 == 2:
        if gamepad.is_key_pressed("Left"):
            _E5_A4_B9_E5_AD_902 = 0

        else:
            if gamepad.is_key_pressed("Right"):
                _E5_A4_B9_E5_AD_902 = 1

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 == 3:
        if gamepad.is_key_pressed("Left"):
            _E5_A4_B9_E5_AD_903 = 0

        else:
            if gamepad.is_key_pressed("Right"):
                _E5_A4_B9_E5_AD_903 = 1

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 == 4:
        if gamepad.is_key_pressed("Left"):
            _E5_A4_B9_E5_AD_904 = 0

        else:
            if gamepad.is_key_pressed("Right"):
                _E5_A4_B9_E5_AD_904 = 1

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 == 5:
        if gamepad.is_key_pressed("Left"):
            _E5_A4_B9_E5_AD_905 = 0

        else:
            if gamepad.is_key_pressed("Right"):
                _E5_A4_B9_E5_AD_905 = 1

    if _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81 == 6:
        if gamepad.is_key_pressed("≡"):
            _E5_A4_B9_E5_AD_901 = 0
            _E5_A4_B9_E5_AD_902 = 0
            _E5_A4_B9_E5_AD_903 = 0
            _E5_A4_B9_E5_AD_904 = 0
            _E5_A4_B9_E5_AD_905 = 0

    _E6_8E_A7_E5_88_B6_E5_A4_B9_E5_AD_90()

def _E5_90_B8_E5_AD_90_E5_89_8D_E5_90_8E ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("Left"):
        power_expand_board.set_power("DC1", 50)

    else:
        if gamepad.is_key_pressed("Right"):
            power_expand_board.set_power("DC1", -50)

        else:
            power_expand_board.set_power("DC1", 0)

def _E5_88_9D_E5_A7_8B_E5_8C_96 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    _E4_BE_9B_E5_BC_B9_E5_80_BC = 1
    _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = 1
    _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 = 1
    _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 1
    _E7_81_AF_E7_8A_B6_E6_80_81 = 0

def _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_851 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    _E7_B4_A7_E6_80_A5_E5_81_9C_E6_AD_A2()
    _E6_85_A2_E9_80_9F_E5_BA_95_E7_9B_98()
    _E5_90_B8_E5_AD_90_E4_B8_8A_E4_B8_8B()
    _E5_90_B8_E5_AD_90_E5_89_8D_E5_90_8E()
    _E5_90_B8_E5_AD_90_E6_97_8B_E8_BD_AC_EF_BC_88_E5_85_A8_EF_BC_89()

def _E6_89_8B_E5_8A_A8_E6_93_8D_E4_BD_9C ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    _E5_B0_84_E5_9D_97_E5_8F_91_E5_B0_84()
    _E7_9F_A2_E9_87_8F_E5_BA_95_E7_9B_98()
    _E5_90_B8_E5_AD_90_E6_97_8B_E8_BD_AC_EF_BC_88_E6_89_8B_EF_BC_89()
    _E4_BE_9B_E5_BC_B9()
    _E7_81_AF()

def _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_852 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_852_E5_88_9D_E5_A7_8B_E5_8C_96()
    while True:
        time.sleep(0.001)
        _E6_85_A2_E9_80_9F_E5_BA_95_E7_9B_98()
        _E5_A4_B9_E5_AD_90_E4_B8_8A_E4_B8_8B()
        _E5_A4_B9_E5_AD_90_E5_BC_80_E5_90_88()

def _E5_91_A8_E6_9C_9F ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.move(-750, 50)
    encoder_motor_M4.move(750, 50)
    encoder_motor_M5.move(-750, 50)
    encoder_motor_M6.move(750, 50)
    time.sleep(1.5)
    encoder_motor_M1.move(300, 50)
    encoder_motor_M4.move(-300, 50)
    encoder_motor_M5.move(300, 50)
    encoder_motor_M6.move(-300, 50)
    time.sleep(0.5)

def _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_853 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    _E5_B0_84_E5_9D_97_E5_8F_91_E5_B0_84()
    _E7_94_A9_E7_8B_99_E5_BA_95_E7_9B_98()
    _E5_90_B8_E5_AD_90_E6_97_8B_E8_BD_AC_EF_BC_88_E6_89_8B_EF_BC_89()
    _E4_BE_9B_E5_BC_B9()
    _E7_81_AF()

def _E8_87_AA_E5_8A_A8 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.move(-2000, 250)
    encoder_motor_M4.move(-2000, 250)
    encoder_motor_M5.move(2000, 250)
    encoder_motor_M6.move(2000, 250)
    time.sleep(2)
    _E5_90_B8_E5_9D_97()
    time.sleep(0.5)
    _E5_91_A8_E6_9C_9F()
    _E5_91_A8_E6_9C_9F()
    _E5_91_A8_E6_9C_9F()
    encoder_motor_M1.move(-1500, 50)
    encoder_motor_M4.move(1500, 50)
    encoder_motor_M5.move(-1500, 50)
    encoder_motor_M6.move(1500, 50)
    power_expand_board.set_power("BL1", 100)
    power_expand_board.set_power("BL2", 100)
    time.sleep(2)
    encoder_motor_M2.set_power(0)
    encoder_motor_M3.set_power(0)
    power_expand_board.set_power("DC5", -75)
    power_expand_board.set_power("DC7", 100)
    power_expand_board.stop("DC7")
    power_expand_board.set_power("DC1", 75)
    time.sleep(2)
    power_expand_board.stop("DC1")
    _E6_89_AB_E5_B0_84()

def _E5_A4_B9_E5_AD_90_E4_B8_8A_E4_B8_8B ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("L1"):
        encoder_motor_M3.set_power(20)

    else:
        if gamepad.is_key_pressed("R1"):
            encoder_motor_M3.set_power(-100)

        else:
            encoder_motor_M3.set_speed(0)

def _E6_89_8B_E5_8A_A8 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("R2"):
        if gamepad.is_key_pressed("N1") and _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 1:
            if R2 == 0:
                _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 2

            R2 = 1

        if gamepad.is_key_pressed("N1") and _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 2:
            if R2 == 0:
                _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 1

            R2 = 1

        if gamepad.is_key_pressed("N2"):
            if R2 == 0:
                _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 3

            R2 = 1

    else:
        R2 = 0

    if _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 1 and gamepad.is_key_pressed("N3"):
        if my_3_1 == 0:
            _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 4
            M1_E4_BD_8D_E7_BD_AE = encoder_motor_M1.get_value("angle")
            M4_E4_BD_8D_E7_BD_AE = encoder_motor_M4.get_value("angle")
            M5_E4_BD_8D_E7_BD_AE = encoder_motor_M5.get_value("angle")
            M6_E4_BD_8D_E7_BD_AE = encoder_motor_M6.get_value("angle")

        my_3_1 = 1

    else:
        my_3_1 = 0

    if _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 4 and gamepad.is_key_pressed("N3"):
        if my_3_2 == 0:
            _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 = 1

        my_3_2 = 1

    else:
        my_3_2 = 0

    if _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 1:
        _E6_89_8B_E5_8A_A8_E6_93_8D_E4_BD_9C()

    else:
        if _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 2:
            _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_851()

        else:
            if _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81 == 3:
                _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_852()

            else:
                _E5_BC_BA_E5_8C_96_E6_94_B9_E8_A3_853()

def _E5_90_B8_E5_AD_90_E6_97_8B_E8_BD_AC_EF_BC_88_E6_89_8B_EF_BC_89 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("L1"):
        if L1 == 0:
            _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B + 1
            _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B % 2

        L1 = 1

    else:
        L1 = 0

    if gamepad.is_key_pressed("L2"):
        _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = 3

    if gamepad.is_key_pressed("Up"):
        _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = 5

    if not gamepad.is_key_pressed("L2"):
        if not gamepad.is_key_pressed("Up"):
            if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B == 3 or _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B == 5:
                _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = 1

    if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B == 0:
        encoder_motor_M2.set_power(100)
        encoder_motor_M3.set_power(-100)
        power_expand_board.set_power("DC5", 75)
        power_expand_board.set_power("DC7", -100)

    else:
        if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B == 3:
            encoder_motor_M2.set_power(-100)
            encoder_motor_M3.set_power(100)
            power_expand_board.set_power("DC5", -75)
            power_expand_board.set_power("DC7", 100)

        else:
            if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B == 1:
                encoder_motor_M2.set_power(0)
                encoder_motor_M3.set_power(0)
                power_expand_board.set_power("DC5", 0)
                power_expand_board.set_power("DC7", 0)

            else:
                encoder_motor_M2.set_power(0)
                encoder_motor_M3.set_power(0)
                power_expand_board.set_power("DC5", 0)
                power_expand_board.set_power("DC7", 100)

def _E4_BE_9B_E5_BC_B9 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("Up"):
        power_expand_board.set_power("DC1", 75)

    else:
        if gamepad.is_key_pressed("Down"):
            power_expand_board.set_power("DC1", -100)

        else:
            power_expand_board.stop("DC1")

def _E5_90_B8_E5_AD_90_E4_B8_8A_E4_B8_8B ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("Up"):
        power_expand_board.set_power("DC5", -100)
        power_expand_board.set_power("DC6", 100)

    else:
        if gamepad.is_key_pressed("Down"):
            power_expand_board.set_power("DC5", 100)
            power_expand_board.set_power("DC6", -100)

        else:
            power_expand_board.set_power("DC5", 0)
            power_expand_board.set_power("DC6", 0)

def _E5_90_B8_E5_9D_97 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M2.set_power(100)
    encoder_motor_M3.set_power(-100)
    power_expand_board.set_power("DC5", 75)
    power_expand_board.set_power("DC7", -100)

def _E5_B0_84_E5_9D_97_E5_8F_91_E5_B0_84 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("R1"):
        if R1 == 0:
            _E6_97_A0_E5_88_B7_E4_B8_8A = 100
            _E6_97_A0_E5_88_B7_E4_B8_8B = 100

        R1 = 1

    else:
        R1 = 0

    power_expand_board.set_power("BL1", _E6_97_A0_E5_88_B7_E4_B8_8A)
    power_expand_board.set_power("BL2", _E6_97_A0_E5_88_B7_E4_B8_8B)

def _E7_B4_A7_E6_80_A5_E5_81_9C_E6_AD_A2 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("+"):
        _E6_97_A0_E5_88_B7_E4_B8_8A = 0
        _E6_97_A0_E5_88_B7_E4_B8_8B = 0
        _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B = 1
        power_expand_board.stop("BL1")
        power_expand_board.stop("BL2")
        power_expand_board.stop("DC1")
        power_expand_board.stop("DC2")
        power_expand_board.stop("DC3")
        power_expand_board.stop("DC4")
        power_expand_board.stop("DC5")
        power_expand_board.stop("DC6")
        power_expand_board.stop("DC7")
        power_expand_board.stop("DC8")

def _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    _E5_90_B8_E5_9D_97()
    time.sleep(2)
    encoder_motor_M2.set_power(0)
    encoder_motor_M3.set_power(0)
    power_expand_board.set_power("DC5", -75)
    power_expand_board.set_power("DC7", 100)
    time.sleep(1)
    power_expand_board.stop("DC7")
    power_expand_board.set_power("DC1", 75)
    time.sleep(1)
    power_expand_board.stop("DC1")

def _E5_90_B8_E5_AD_90_E6_97_8B_E8_BD_AC_EF_BC_88_E5_85_A8_EF_BC_89 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("L1"):
        if L1 == 0:
            _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 = _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 + 1
            _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 = _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 % 2

        L1 = 1

    else:
        L1 = 0

    if gamepad.is_key_pressed("L2"):
        _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 = 3

    if not gamepad.is_key_pressed("L2"):
        if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 == 3:
            _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 = 1

    if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 == 0:
        power_expand_board.set_power("DC2", -100)
        power_expand_board.set_power("DC3", 100)

    else:
        if _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8 == 3:
            power_expand_board.set_power("DC2", 100)
            power_expand_board.set_power("DC3", -100)

        else:
            power_expand_board.set_power("DC2", 0)
            power_expand_board.set_power("DC3", 0)

def _E6_8E_A7_E5_88_B6_E5_A4_B9_E5_AD_90 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if _E5_A4_B9_E5_AD_901 == 1:
        smartservo_1.set_power(7)

    else:
        smartservo_1.move_to(-70, 50)

    if _E5_A4_B9_E5_AD_902 == 1:
        smartservo_2.set_power(7)

    else:
        smartservo_2.move_to(-70, 50)

    if _E5_A4_B9_E5_AD_903 == 1:
        smartservo_3.set_power(7)

    else:
        smartservo_3.move_to(-45, 50)

    if _E5_A4_B9_E5_AD_904 == 1:
        smartservo_4.set_power(7)

    else:
        smartservo_4.move_to(-45, 50)

    if _E5_A4_B9_E5_AD_905 == 1:
        smartservo_5.set_power(7)

    else:
        smartservo_5.move_to(-45, 50)

def _E7_81_AF ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    if gamepad.is_key_pressed("N4"):
        if my_4 == 0:
            _E7_81_AF_E7_8A_B6_E6_80_81 = _E7_81_AF_E7_8A_B6_E6_80_81 + 1
            _E7_81_AF_E7_8A_B6_E6_80_81 = _E7_81_AF_E7_8A_B6_E6_80_81 % 2

        my_4 = 1

    else:
        my_4 = 0

    if _E7_81_AF_E7_8A_B6_E6_80_81 == 0:
        power_expand_board.set_power("DC8", 30)

    else:
        power_expand_board.set_power("DC8", 0)

def _E6_89_AB_E5_B0_84 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.move(-250, 4)
    encoder_motor_M4.move(-250, 4)
    encoder_motor_M5.move(-250, 4)
    encoder_motor_M6.move(-250, 4)
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()

def _E5_AE_9A_E7_82_B9 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.move(-30, 4)
    encoder_motor_M4.move(-30, 4)
    encoder_motor_M5.move(-30, 4)
    encoder_motor_M6.move(-30, 4)
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()
    _E8_87_AA_E5_8A_A8_E5_B0_84_E5_9D_97()

def _E7_9F_A2_E9_87_8F_E5_BA_95_E7_9B_98 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.set_power((((-0.8 * gamepad.get_joystick("Ly") + 0.8 * gamepad.get_joystick("Lx"))) + -0.4 * gamepad.get_joystick("Rx")))
    encoder_motor_M4.set_power((((-0.8 * gamepad.get_joystick("Ly") + -0.8 * gamepad.get_joystick("Lx"))) + -0.4 * gamepad.get_joystick("Rx")))
    encoder_motor_M5.set_power((((0.8 * gamepad.get_joystick("Ly") + 0.8 * gamepad.get_joystick("Lx"))) + -0.4 * gamepad.get_joystick("Rx")))
    encoder_motor_M6.set_power((((0.8 * gamepad.get_joystick("Ly") + -0.8 * gamepad.get_joystick("Lx"))) + -0.4 * gamepad.get_joystick("Rx")))

def _E6_85_A2_E9_80_9F_E5_BA_95_E7_9B_98 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.set_power((((-0.4 * gamepad.get_joystick("Ly") + 0.6 * gamepad.get_joystick("Lx"))) + -0.3 * gamepad.get_joystick("Rx")))
    encoder_motor_M4.set_power((((-0.4 * gamepad.get_joystick("Ly") + -0.6 * gamepad.get_joystick("Lx"))) + -0.3 * gamepad.get_joystick("Rx")))
    encoder_motor_M5.set_power((((0.4 * gamepad.get_joystick("Ly") + 0.6 * gamepad.get_joystick("Lx"))) + -0.3 * gamepad.get_joystick("Rx")))
    encoder_motor_M6.set_power((((0.4 * gamepad.get_joystick("Ly") + -0.6 * gamepad.get_joystick("Lx"))) + -0.3 * gamepad.get_joystick("Rx")))

def _E7_94_A9_E7_8B_99_E5_BA_95_E7_9B_98 ():
    global _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E6_89_8B, _E6_97_A0_E5_88_B7_E4_B8_8A, _E4_BE_9B_E5_BC_B9_E5_80_BC, _E6_8C_89_E9_94_AE_E7_8A_B6_E6_80_81, _E6_97_A0_E5_88_B7_E4_B8_8B, _E5_81_8F_E8_BD_AC_E8_A7_92, _E7_81_AF_E7_8A_B6_E6_80_81, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE, _E5_90_B8_E5_AD_90_E6_8C_89_E9_94_AE_E6_97_B6_E9_97_B4, M1_E4_BD_8D_E7_BD_AE, M4_E4_BD_8D_E7_BD_AE, M5_E4_BD_8D_E7_BD_AE, M6_E4_BD_8D_E7_BD_AE, _E5_90_B8_E5_AD_90_E7_8A_B6_E6_80_81_E5_85_A8, _E5_A4_B9_E5_AD_90_E7_8A_B6_E6_80_81, _E5_A4_B9_E5_AD_901, _E5_A4_B9_E5_AD_902, _E5_A4_B9_E5_AD_903, _E5_A4_B9_E5_AD_904, _E5_A4_B9_E5_AD_905, R1, my_4, R2, my_3_1, my_3_2, L1, _E5_89_8D, _E5_90_8E
    encoder_motor_M1.move_to((M1_E4_BD_8D_E7_BD_AE + -5 * gamepad.get_joystick("Rx")), 200)
    encoder_motor_M4.move_to((M4_E4_BD_8D_E7_BD_AE + -5 * gamepad.get_joystick("Rx")), 200)
    encoder_motor_M5.move_to((M5_E4_BD_8D_E7_BD_AE + -5 * gamepad.get_joystick("Rx")), 200)
    encoder_motor_M6.move_to((M6_E4_BD_8D_E7_BD_AE + -5 * gamepad.get_joystick("Rx")), 200)

_E5_88_9D_E5_A7_8B_E5_8C_96()
while True:
    time.sleep(0.001)
    _E7_B4_A7_E6_80_A5_E5_81_9C_E6_AD_A2()
    if power_manage_module.is_auto_mode():
        _E8_87_AA_E5_8A_A8()
        while not not power_manage_module.is_auto_mode():
            pass

    else:
        _E6_89_8B_E5_8A_A8()

    if gamepad.is_key_pressed("≡"):
        if gamepad.is_key_pressed("+"):
            _E8_87_AA_E5_8A_A8()


'''


k=re.finditer(r'(_([A-Z]|[0-9])([A-Z]|[0-9])){2,20}',myStr)
midd=list(set(map(lambda x:x.group(),k)))

midd.sort(key= lambda x:len(x),reverse=True)

targets=myStr
del midd[0]
del midd[0]
for i in midd:
    print(i)
    m = bytes.fromhex(i.replace("_","")).decode('utf_8')
    targets=targets.replace(i,m)
    print(m)
    
    


print(targets)

